EP2507104B1 - Verfahren und system für die geschwindigkeitsregelung eines fahrzeugs - Google Patents

Verfahren und system für die geschwindigkeitsregelung eines fahrzeugs Download PDF

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Publication number
EP2507104B1
EP2507104B1 EP09799246.5A EP09799246A EP2507104B1 EP 2507104 B1 EP2507104 B1 EP 2507104B1 EP 09799246 A EP09799246 A EP 09799246A EP 2507104 B1 EP2507104 B1 EP 2507104B1
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EP
European Patent Office
Prior art keywords
vehicle
parameter
registered
cruise control
bcc
Prior art date
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Active
Application number
EP09799246.5A
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English (en)
French (fr)
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EP2507104A1 (de
Inventor
Johan Bjernetun
Anders Eriksson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volvo Truck Corp
Original Assignee
Volvo Lastvagnar AB
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Publication of EP2507104A1 publication Critical patent/EP2507104A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0097—Predicting future conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Definitions

  • the present invention relates to a method for controlling a cruise control in a vehicle, in accordance with the preamble of the accompanying claim 1.
  • the invention also relates to a vehicle cruise control system intended for such method for controlling said cruise control, in accordance with the preamble of the accompanying claim 3.
  • the present invention also relates to a computer program, computer program product and a storage medium for a computer all to be used with a computer for executing said method.
  • Motor vehicles such as cars, lorries, towing vehicles and buses, are often provided with a so-called cruise control system, also denominated speed control system, for automatically controlling the vehicle speed.
  • a cruise control system comprises means, such as a speed sensor, for monitoring the actual vehicle speed.
  • the cruise control system compares the actual vehicle speed with a set target speed.
  • the target speed may for instance be entered into the cruise control system as the prevailing actual vehicle speed when a set switch is actuated by the driver.
  • the cruise control system generates an error signal by comparing the actual vehicle speed with the target speed.
  • the error signal is then for instance used to control an actuator coupled to the fuel pump or to the vehicle throttle in order to change the engine speed until the error signal is substantially zero, i.e. until the actual vehicle speed is equal to the target speed.
  • EP 1439976 and US6990401 disclose two examples of prior art where the cruise control system is a predictive cruise control system utilizing information about current vehicle position and upcoming road topography, that is for example gradients or elevation values for the coming road, in order to control throttle opening in such a way as to increase fuel effciency.
  • a cruise control system can also comprise a brake cruise control, which means that the cruise control system automatically brakes the vehicle, with for example auxiliary brakes and/or service brakes, when a set vehicle overspeed has been exceeded.
  • a problem with such a system can be that the system starts to brake fully some km/h above said set vehicle overspeed. The delay is due to comfort reasons and mechanical delays. This leads to that the driver typically decreases the set vehicle overspeed in order not to risk to high overspeeds, especially when the vehicle is heavily loaded and/ or the downhill is steep. This has a negative effect on fuel consumption, due to that a decreased set vehicle overspeed results in a decreased use of the kinetic energy of said vehicle. Alternatively the driver manually brakes the vehicle, which leads to inactivation of the cruise control.
  • JP6135260 A solution that to some extent milders the effects of said problem is disclosed in JP6135260 , where a control unit registers vehicle gross weight and road inclination in order to adjust the braking power in the brake cruise control.
  • Generic WO2008094112 and WO2009126554 disclose further relevant prior art.
  • the object of the present invention is to further develop such a cruise control system where information about current vehicle condition is used for a better control of a brake cruise control.
  • the invention also relates to a cruise control system that comprises (includes, but is not necessarily limited to) a control unit arranged for performing said method steps.
  • a cruise control system for automatically controlling the vehicle speed can be arranged in a vehicle according to known art.
  • Said cruise control system comprises a control unit for continually processing input signals and deliver output signals to, for example a propulsion unit control for controlling a propulsion unit and if installed also a brake control unit for controlling braking devices in said vehicle in order to maintain a set vehicle speed.
  • Said braking devices can be a service brake and/or auxiliary brake and/or an electric motor/generator (if for example the vehicle is equipped with a hybrid propulsion system).
  • Said vehicle cruise control system further comprises at least a driver input interface.
  • Said control unit is arranged to perform steps of below described inventive functions with the use of information about current vehicle condition.
  • a cruise control in said vehicle is set to maintain v cc set target speed .
  • This can be set by the driver.
  • said control unit in said cruise control system is arranged to maintain said V cc set target speed .
  • a maximum vehicle overspeed v bcc can also be set by the driver in order for the control unit to initiate braking of said vehicle if vehicle speed approaches said v bcc .
  • This functionality is known as such and is also called brake cruise control.
  • Said maximum vehicle overspeed v bcc for said vehicle cruise control can be set to be at least equal to or higher than said vehicle set target speed. In below described inventive embodiments v bcc is set higher than v cc set target speed .
  • v cc set target speed and v bcc are set by the driver.
  • A, B and C disclose examples of different parts of a road distance with typical examples of different vehicle travelling conditions during said road distance.
  • Vehicle speed curve 1 discloses how the actual vehicle speed varies/is controlled during said road distance.
  • the vehicle travelling condition corresponds to a relatively horizontal road and as the vehicle speed curve 1 discloses the cruise control is during this part able to maintain v c set target speed .
  • the vehicle travelling condition corresponds to a steep downhill road and as shown by vehicle speed curve 1 the vehicle speed increases.
  • said control unit is programmed during this initial part of B to register said first parameter and said second parameter, and based on said registered parameters said control unit is programmed to adjust the set v bcc to a new value, disclosed in figure 1 as vehicle speed level v bcc flex .
  • the benefit is that a vehicle speed increase resulting in a vehicle speed that exceeds v bcc due to delays in the cruise control and braking devices can be avoided.
  • Said second parameter is here said to be current road inclination. This road inclination can of course also be a part in for example measured travelling resistance, which usually comprise air resistance, rolling reistance and said road inclination.
  • Figure 1 discloses an example where the vehicle in the initial part of B enters a steep downhill.
  • the control unit registers a steep downhill the v bcc is decreased to v bcc flex .
  • the calculated and selected degree of decreased v bcc is mainly dependent of the following variables:
  • control unit can be programmed to increase v bcc when such vehicle travelling conditions are prevailing which allows such an increase.
  • v bcc flex where the braking devices are activated in order to decrease acceleration and level out on v bcc flex .
  • said braking devices are activated slightly before the vehicle reaches v bcc flex . In this way overshooting of v bcc flex is avoided.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Regulating Braking Force (AREA)
  • Controls For Constant Speed Travelling (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Transmission Device (AREA)

Claims (6)

  1. Verfahren zur Steuerung einer Fahrzeug-Tempomatsteuerung mit den Schritten:
    - Fahren des Fahrzeugs mit der Tempomatsteuerung, die aktiv und zur Aufrechterhaltung einer gesetzten Fahrzeugsollgeschwindigkeit (Vcc set target speed) gesetzt ist,
    - Registrierung eines ersten Parameters, der das Fahrzeugbruttogewicht ist, und eines zweiten Parameters, der die momentane Straßenneigung ist,
    - auf der Basis des registrierten ersten und zweiten Parameters Einstellen einer gesetzten Fahrzeughöchstdrehzahl (vbcc) für eine Bremstempomatsteuerung in der Tempomatsteuerung auf einen neuen Wert (vbcc flex),
    dadurch gekennzeichnet, dass
    - wenn der erste Parameter als hoch registriert wird und/oder der zweite Parameter als ein steiles Gefälle registriert wird, dann durch Verringerung der gesetzten Fahrzeughöchstdrehzahl in einem entsprechenden Ausmaß eingestellt wird, oder
    - wenn der erste Parameter als gering registriert wird und/oder der zweite Parameter als ein Gefälle mit geringer Neigung registriert wird, dann durch Erhöhung der gesetzten Fahrzeughöchstdrehzahl in einem entsprechenden Ausmaß eingestellt wird.
  2. Verfahren nach Anspruch 1, das außerdem die Schritte umfasst:
    - Registrierung eines dritten Parameters, der die kommende Straßentopographie für eine vorherbestimmte Straßenstrecke vor der momentanen Fahrzeugposition ist,
    - Einstellung der gesetzten Fahrzeughöchstdrehzahl auf der Basis der registrierten ersten bis dritten Parameter.
  3. Tempomatsteuersystem mit einer Steuereinheit, die zur Aufrechterhaltung einer gesetzten Fahrzeugsollgeschwindigkeit (vcc set target speed) konfiguriert ist, dadurch gekennzeichnet, dass die Steuereinheit programmiert ist, um
    - einen ersten Parameter, der das Fahrzeugbruttogewicht ist, und einen zweiten Parameter, der die momentane Straßenneigung ist, zu registrieren,
    - auf der Basis des registrierten ersten und zweiten Parameters eine gesetzte Fahrzeughöchstdrehzahl (vbcc) für eine Bremstempomatsteuerung in der Tempomatsteuerung auf einen neuen Wert (vbcc flex) einzustellen, und
    dadurch gekennzeichnet, dass
    - wenn der erste Parameter als hoch registriert wird und/oder der zweite Parameter als ein steiles Gefälle registriert wird, dann die Steuereinheit so programmiert ist, dass sie durch Verringerung der gesetzten Fahrzeughöchstdrehzahl in einem entsprechenden Ausmaß einstellt, oder
    - wenn der erste Parameter als gering registriert wird und/oder der zweite Parameter als ein Gefälle mit geringer Neigung registriert wird, dann die Steuereinheit so programmiert ist, dass sie durch Erhöhung der gesetzten Fahrzeughöchstdrehzahl in einem entsprechenden Ausmaß einstellt.
  4. Computerprogramm mit einer Programmcodeeinrichtung zur Durchführung aller Schritte nach einem der Ansprüche 1 bis 2, wenn das Programm auf einem Computer ausgeführt wird.
  5. Computerprogrammerzeugnis mit einer auf einem computerlesbaren Medium gespeicherten Programmcodeeinrichtung zur Durchführung aller Schritte nach einem der Ansprüche 1 bis 2, wenn das Programmerzeugnis auf einem Computer ausgeführt wird.
  6. Speichermedium, wie zum Beispiel ein Computerspeicher (520) oder ein nichtflüchtiges Datenspeichermedium (550) zur Verwendung in einer Computerumgebung, wobei der Speicher einen computerlesbaren Programmcode zur Durchführung des Verfahrens der Ansprüche 1 bis 2 umfasst.
EP09799246.5A 2009-11-30 2009-11-30 Verfahren und system für die geschwindigkeitsregelung eines fahrzeugs Active EP2507104B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2009/008507 WO2011063823A1 (en) 2009-11-30 2009-11-30 Method and system for controlling a vehicle cruise control

Publications (2)

Publication Number Publication Date
EP2507104A1 EP2507104A1 (de) 2012-10-10
EP2507104B1 true EP2507104B1 (de) 2015-04-08

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EP09799246.5A Active EP2507104B1 (de) 2009-11-30 2009-11-30 Verfahren und system für die geschwindigkeitsregelung eines fahrzeugs

Country Status (8)

Country Link
US (1) US20120283928A1 (de)
EP (1) EP2507104B1 (de)
JP (1) JP5586703B2 (de)
CN (1) CN102753416B (de)
BR (1) BR112012012741B1 (de)
ES (1) ES2541322T3 (de)
RU (1) RU2532988C2 (de)
WO (1) WO2011063823A1 (de)

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Also Published As

Publication number Publication date
WO2011063823A8 (en) 2012-07-26
BR112012012741B1 (pt) 2019-12-10
BR112012012741A2 (pt) 2016-08-30
CN102753416A (zh) 2012-10-24
CN102753416B (zh) 2015-04-15
WO2011063823A1 (en) 2011-06-03
ES2541322T3 (es) 2015-07-17
RU2532988C2 (ru) 2014-11-20
JP2013512138A (ja) 2013-04-11
US20120283928A1 (en) 2012-11-08
RU2012127086A (ru) 2014-01-10
JP5586703B2 (ja) 2014-09-10
EP2507104A1 (de) 2012-10-10

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